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Title: Coordinated joint motion control system with position error correction

Abstract

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Inventors:
Issue Date:
Research Org.:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno, NV (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1245438
Patent Number(s):
9304501
Application Number:
14/798,254
Assignee:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno (Reno, NV)
Patent Classifications (CPCs):
E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
DOE Contract Number:  
FC26-04NT42087
Resource Type:
Patent
Resource Relation:
Patent File Date: 2015 Jul 13
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 97 MATHEMATICS AND COMPUTING

Citation Formats

Danko, George L. Coordinated joint motion control system with position error correction. United States: N. p., 2016. Web.
Danko, George L. Coordinated joint motion control system with position error correction. United States.
Danko, George L. Tue . "Coordinated joint motion control system with position error correction". United States. https://www.osti.gov/servlets/purl/1245438.
@article{osti_1245438,
title = {Coordinated joint motion control system with position error correction},
author = {Danko, George L.},
abstractNote = {Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2016},
month = {4}
}

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